#!/usr/bin/env python
import rospy
from geometry_msgs.msg import Pose, PoseWithCovarianceStamped, Point, Quaternion, Twist


def initialpose():
    rospy.init_node('initialpub', anonymous=True)
    pub = rospy.Publisher(
        'initialpose', PoseWithCovarianceStamped, queue_size=10)
    startpose = PoseWithCovarianceStamped()
    startpose.header.frame_id = "map"
    startpose.pose.pose = Pose(Point(0, 0, 0.05), Quaternion(0, 0, 0, 1))
    pub.publish(startpose)


if __name__ == '__main__':
    initialpose()
